CN112765822A - Three-dimensional simulation method and system for ship formation navigation control - Google Patents
Three-dimensional simulation method and system for ship formation navigation control Download PDFInfo
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Abstract
The invention discloses a three-dimensional simulation method and a three-dimensional simulation system for ship formation navigation control, wherein the method comprises the following steps: constructing a ship lock water area virtual scene three-dimensional model according to the scene data of the water area to be tested; constructing a lock crossing scene animation and a trigger for triggering the scene animation; constructing a UI interface provided with a plurality of trigger buttons; importing a plurality of ship models which interact with a trigger button into the three-dimensional model of the ship lock water area virtual scene, and importing a hydrodynamic model into the ship models; setting initial positions of a plurality of ship models to generate ship formation; and simulating ship formation according to the three-dimensional model of the ship lock water area virtual scene, the ship lock passing scene animation, the trigger and the UI interface after the ship model is imported. The invention does not need to carry out ship formation sailing test through a solid ship lock and a ship, thereby effectively reducing the ship formation sailing test time and the cost of the ship industry. The invention can be widely applied to the technical field of simulation.
Description
Technical Field
The invention relates to the technical field of simulation, in particular to a three-dimensional simulation method and a three-dimensional simulation system for ship formation navigation control.
Background
With the rapid development of intelligent ships and intelligent shipping, ship formation sailing receives more and more attention due to the characteristics of high shipping efficiency, low cost, good safety and the like. The ship lock water area belongs to a typical complex restricted navigation area and has the characteristics of dense ships, narrow channel, large water level difference and the like. However, as the number of ships increases, the navigation ability of the lock is insufficient, and the risk of the ships navigating is greatly increased. At present, the safe operation of a ship lock and the passing efficiency of ships are improved by developing a ship formation sailing test aiming at a ship lock water area. However, the ship formation sailing test performed by the physical lock and the ship increases the test time and the cost of the ship industry.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a three-dimensional simulation method and a three-dimensional simulation system for ship formation navigation control, which can effectively reduce the ship formation navigation test time and the cost of the ship industry.
According to the embodiment of the first aspect of the invention, the three-dimensional simulation method for the formation navigation control of the ship comprises the following steps:
constructing a ship lock water area virtual scene three-dimensional model according to the scene data of the water area to be tested;
constructing a lock crossing scene animation and a trigger for triggering the scene animation;
constructing a UI interface, wherein a plurality of trigger buttons are arranged on the UI interface;
importing a plurality of ship models into the ship lock water area virtual scene three-dimensional model, importing hydrodynamic force models into the ship models, and enabling the ship models to interact with the plurality of trigger buttons;
setting initial positions of a plurality of ship models to generate ship formation;
and simulating the ship formation according to the three-dimensional model of the ship lock water area virtual scene, the ship lock passing scene animation, the trigger and the UI interface after the ship model is introduced.
The three-dimensional simulation method for ship formation navigation control according to the embodiment of the invention at least has the following beneficial effects:
according to the embodiment, a three-dimensional model of a ship lock water area virtual scene is constructed according to scene data of a water area to be tested, then ship lock lockage scene animation, a trigger for triggering the scene animation and a UI interface with a plurality of trigger buttons are constructed, a plurality of ship models interacting with the trigger buttons are led into the three-dimensional model of the ship lock water area virtual scene, a hydrodynamic model is led into the ship models, then initial positions of the ship models are set to generate ship formation, and then the ship formation is simulated according to the three-dimensional model of the ship lock water area virtual scene after the ship models are led in, the ship lockage scene animation, the trigger and the UI interface, so that a ship formation sailing test does not need to be carried out through a physical ship lock and a ship, and the sailing test time of the ship formation and the cost of the ship industry are effectively reduced.
According to some embodiments of the present invention, the constructing a three-dimensional model of a ship lock water area virtual scene according to the scene data of the water area to be tested includes:
collecting scene data of a water area to be tested;
and constructing a three-dimensional model of the ship lock water area virtual scene by adopting preset three-dimensional modeling software according to the data of the preset earth database.
According to some embodiments of the invention, the first script is adopted in the ship lock water area virtual scene three-dimensional model to control water surface parameters, and the water surface parameters include water surface reflection intensity, fresnel intensity, wind speed grade, wave, grid proportion, water surface refraction intensity and water surface refraction distortion degree.
Some embodiments of the invention, the lock pass-lock scene animation comprises lock gate opening and closing animation and lock chamber water level up-and-down animation.
According to some embodiments of the invention, the trigger is arranged on the front side of the lock gate in the lock-passing scene animation of the ship lock and is used for triggering a second script in the simulation process, and the second script is used for executing the corresponding scene animation.
In some embodiments of the invention, the ship model interacts with the plurality of trigger buttons using a third script; when the simulation is carried out, the plurality of trigger buttons are used for controlling the ship type and the ship working state of the ship model.
Some embodiments of the present invention, the importing a plurality of ship models into the three-dimensional model of the ship lock water area virtual scene and importing a hydrodynamic model into the ship models, includes:
introducing a plurality of pre-constructed ship models into the three-dimensional model of the ship lock water area virtual scene;
and constructing propeller and steering engine animations of a plurality of ship models, and importing the propeller and steering engine animations into the hydrodynamic model, wherein the propeller and steering engine animations are used for simulating propeller rotation and steering.
Some embodiments of the invention, the setting initial positions of a plurality of ship models and generating the ship formation, comprise:
setting initial positions of a plurality of ship models, wherein the initial positions of the ship models are different;
two ships are set from the multiple ship models as pilot ships, and the rest ships are following ships, so that ship formation is formed.
According to some embodiments of the present invention, the simulating the ship formation according to the three-dimensional model of the ship lock water area virtual scene, the ship lock passing scene animation, the trigger and the UI interface after the ship model is imported includes:
the ship formation receives a control signal input by a UI interface, and navigation simulation is carried out in a ship lock water area virtual scene three-dimensional model;
and when the ship formation sails to a preset position, triggering the lock crossing scene animation.
According to a second aspect of the invention, the three-dimensional simulation system for the formation and navigation control of the ship comprises:
at least one memory for storing a program;
at least one processor for loading the program to execute the three-dimensional simulation method for vessel formation voyage control of the embodiment of the first aspect.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a flow chart of a three-dimensional simulation method for vessel formation navigation control according to an embodiment of the present invention;
FIG. 2 is a block diagram of a simulation platform according to an embodiment;
FIG. 3 is a block diagram of a virtual scene module in accordance with one embodiment;
FIG. 4 is a block diagram of an animation module in accordance with one embodiment;
FIG. 5 is an element script association diagram of an embodiment;
FIG. 6 is a control flow diagram of a vessel formation simulation process in accordance with one embodiment;
FIG. 7 is a flow diagram of a single chamber simulation of an embodiment;
FIG. 8 is a simulation of a downstream voyage of a ship in accordance with an exemplary embodiment;
FIG. 9 is a simulation of the approach lock chamber navigation of a ship in accordance with an exemplary embodiment;
FIG. 10 is a simulation of the vessel entering the lock chamber for navigation according to one embodiment;
FIG. 11 is a ship lock-out navigation simulation diagram according to an embodiment;
FIG. 12 is a diagram illustrating a navigation simulation of a ship exiting a final lock according to one embodiment;
FIG. 13 is a diagram of a ship sailing upstream of the ship in accordance with one embodiment.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly defined, terms such as set, etc. should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, an embodiment of the invention provides a three-dimensional simulation method for ship formation navigation control. The embodiment can be applied to a server or a background processor, and both the server or the background processor can interact with the simulation platform. Before simulation, as shown in fig. 2, a virtual scene module, an animation module and an element script module are preset in the simulation platform. The virtual scene module comprises sub-modules of terrain, sky box, camera, ship model, UI interface, sound effect and the like, and is used for simulating a virtual environment of ship lockage. The animation module comprises a scene animation submodule and a model animation submodule and is used for simulating the ship lockage requirement and simulating the ship navigation. The element script module is used for controlling and accessing the scene model constructed by the virtual scene module and the animation module and calling the scene model.
Specifically, as shown in fig. 3, the virtual scene module includes a terrain, a sky box, a camera, a hull model, a UI interface, a water surface, and sound effects. Wherein, the terrain comprises a multistage ship lock, a mountain peak, a dam, a guide wall and a navigation channel; the sky box comprises a sky module, a cloud module and a sun module and is used for simulating a sky environment; the cameras comprise a camera at a third person view angle and a camera at a first person view angle and are used for displaying a visual simulation scene; the ship model comprises a ship particle system and ship equipment; the ship equipment comprises a ship body, a propeller, a steering engine, an anchor machine and a diesel engine; the UI interface comprises a button, a sliding bar and Text and is used for controlling the ship model and feeding back the ship navigation state; the Water surface comprises a wave-front parameter, a reflection parameter, a Ceto ocean plug-in and a Water4Advanced plug-in, and is used for simulating the downstream, the lock chamber and the upstream Water surface of a ship lock Water area; the sound effect comprises the sound of sea waves and the sound of a diesel engine and is used for realizing auditory simulation.
As shown in FIG. 4, the animation module includes a scene animation submodule and a model animation submodule; the scene Animation comprises the opening and closing of a gate and the lifting of the water surface of a gate chamber, is manufactured based on Unity3D Animation, and is called through a script to simulate the entering and exiting of a ship; the model animation comprises steering of a ship steering engine and rotation of a propeller, and is used for visual simulation of ship navigation.
As shown in FIG. 5, the element script module contains control scripts for ships, cameras, oceans, UI interfaces, animations, terrain, etc.; inputting and controlling a ship by compiling scripts, wherein a hydrodynamic system is used for calculating force and moment generated by a ship body, a rudder and a propeller, and a water particle system simulates waves generated by the ship; the camera script is used for controlling the ship camera, realizing that the keyboard controls the camera to change from a first person scale to a third person scale and simultaneously realizing that the visual angle of the camera is dragged by the mouse to change; the ocean script is used for adjusting reflection parameters, wave spectrum parameters and wind speed of the water surface to make the reflection parameters, the wave spectrum parameters and the wind speed accord with water surface parameters of a lock water area; the UI interface script realizes interaction between a user interface and a ship state, comprises Text display of real-time state parameters of a ship, button control of ship replacement, start and stop of a ship diesel engine, anchor engine and ship camera replacement, and Slider control of ship output power and ship rudder angle; the animation script comprises water surface ascending, water surface descending, gate opening and gate closing and is used for calling different scene animations.
In the simulation process, the method shown in fig. 1 includes the following steps:
and S11, constructing a three-dimensional model of the ship lock water area virtual scene according to the scene data of the water area to be tested. The scene data of the water area to be tested is the actual scene data of the ship lock water area needing to be tested at present.
In some embodiments, the step of constructing the three-dimensional model of the ship lock water area virtual scene according to the scene data of the water area to be tested can be realized by the following steps:
collecting scene data of a water area to be tested; and then, according to the data of the preset earth database, adopting preset three-dimensional modeling software to construct a three-dimensional model of the ship lock water area virtual scene. The preset earth database may be a Google earth database. The preset three-dimensional modeling software may be the Unity3D platform.
In the process of constructing the three-dimensional model of the virtual scene of the water area of the ship lock, a Google 3D Warehouse dam model is inserted into the model, a guide wall and a multistage ship lock are manufactured, the ship lock is set as a rigid body, the material rendering is carried out on the scene, a collision component is added to the terrain, and the ship penetration phenomenon is prevented. And simultaneously, inserting a Ceto Ocean plug-in the model, and controlling the water surface parameters through a first script Ocean. The water surface parameters comprise data such as water surface reflection intensity, Fresnel intensity, wind speed grade, waves, grid proportion, water surface refraction intensity and refraction distortion degree. The lock chamber of the ship lock employs a Water4Advanced Water plug. And a Blue Sunset sky component is inserted, a plurality of fluorescent lamps are added to simulate the sun, the RGB values of the fluorescent lamps are adjusted, and the shadow area in the brake chamber is reduced on the premise of not increasing the reflection intensity of the scene.
And S12, constructing a ship lock crossing lock scene animation and a trigger for triggering the scene animation.
In this step, the ship lock crossing scene animation comprises ship lock gate opening and closing animation and lock chamber water level lifting animation. After the animation is constructed, the actual situation can be better simulated in the simulation process. For example, taking the left door when the gate is opened as an example, the gate is set to be closed in the first frame with the gate close to the wall as the axis, the Y-axis angle is 0 °, and the gate in the last frame is set to be-90 ° with the gate being opened. After the first frame and the last frame are set, Unity3D automatically completes the rest part to form a smooth opening animation, and the same principle is used for closing the gate animation. And (3) setting the water level height of the first frame of the chamber and the water level height of the last frame of the chamber by taking the water level rise of the chamber as an example, automatically completing the rest parts by the Unity3D to form a uniformly-rising water-level animation, and similarly, carrying out the water-level-falling animation of the chamber.
The trigger is arranged on the front side of the lock gate in the lock-passing scene animation and used for triggering a second script used for executing the corresponding scene animation in the simulation process so as to execute the corresponding animation. For example, add the cuboid as the trigger before the gate, set up the cuboid material as nothing, make it can not show in the scene, and can not bump with boats and ships. And adding a second script in the trigger, wherein when a ship enters the trigger, the corresponding second script is triggered, so that the simulation process executes corresponding animation. A plurality of triggers are added in a scene, and the size of the triggers needs to be proper to meet the requirement of passing a brake.
And S13, constructing a UI interface, wherein the UI interface is provided with a plurality of trigger buttons, a sliding bar and a Text. Specifically, the ship model and the user interface can be linked by compiling a script Scene Manager, so that ship replacement, anchor machine anchoring and anchoring, diesel engine starting and stopping and camera conversion can be controlled by clicking a trigger button on the user interface; the forward and backward speeds and the steering angle of the ship can be controlled through the sliding strip; and the real-time state data of the ship is fed back to the user interface through Text.
And S14, importing a plurality of ship models interacting with the trigger buttons into the three-dimensional model of the ship lock water area virtual scene, and importing a hydrodynamic model into the ship models.
In this step, as shown in fig. 5, the ship model adopts a third script Manager to interact with a plurality of trigger buttons; when the simulation is carried out, the plurality of trigger buttons are used for controlling the ship type and the ship working state of the ship model.
In the importing process, a plurality of Ship models which are constructed in advance are imported into the three-dimensional model of the water area virtual scene of the Ship lock, propeller and steering engine animations which are used for simulating propeller rotation and steering and are used for the plurality of Ship models are constructed, and the keyboard is used for controlling starting, stopping, advancing, backing and steering of the Ship through compiling a script Ship Controller. And setting the ship as a rigid body, setting the mass of the ship, adding gravity to the ship and calculating the position of the center of gravity. Adding Particle systems to the head part, the tail part and the two sides of the middle part of the ship body, and adjusting parameters to simulate the waves raised by the ship. The length of the wake effect can be shown by reference to formula 1:
Lw＝0.05×(L·KL+KU·U2) Equation 1
LwIs the wake length; l is the length of the ship; kLIs a length coefficient; kUIs a velocity coefficient; u is the ship sailing speed.
Simultaneously, introducing a hydrodynamic model into the river vessel model, and setting the water density to be 1030kg/m3And setting the water viscosity coefficient. The forces and moments generated by the hull, the rudder and the propeller are calculated taking into account the influence of the boat, the propeller and the rudder. The ship model motion equation is shown as formula 2:
subscript I represents inertia; h represents viscous fluid power and moment; subscript R, P denotes rudder and propeller, respectively; x is the number ofcThe x-axis coordinate of the center of the ship in the coordinate system of the attached body, and the fluid moment N is relative to the center of the ship, so the fluid moment N is corrected to the moment relative to the center of gravity.
The formula of the fluid inertia force and the inertia moment is decomposed as shown in formula 3:
mxand myRepresenting the additional mass; j. the design is a squareZZRepresenting an additional moment of inertia; alpha is alphaxRepresenting the additional mass m in the transverse directionyX coordinate value of the center of action.
Viscous fluid forces and moments are shown in equation 4:
Yv、Yr、Yvvv、Yvvrand YrrrEtc. are hydrodynamic derivatives, which can be determined by experiment.
The propeller lateral force and moment can be modeled by equation 5:
t is the total thrust of the propeller; t is tpIs the thrust derating coefficient; y isPT、nPTMay be determined from a model of the vessel.
The fluid force model acting on the rudder is shown in equation 6:
FNpositive pressure of the rudder; t is tRIs the rudder resistance derating coefficient; a isHA correction factor related to the steering force after the steering induction hull is transversely counted; x is the number ofHThe dimensionless distance from the transverse force action center of the steering induced ship body to the center of gravity of the ship.
And S15, setting initial positions of a plurality of ship models to generate a ship formation. Specifically, as shown in fig. 6, by adding the same script to the ship model imported in step S14 to input main parameters of the ship and setting different initial positions, a ship formation having an initial state is formed, which can be controlled by a leader-follower method. Setting two pilot ships from a ship formation in a virtual scene, wherein the rest ships are following ships, solving the ship hydrodynamic force coefficient after receiving UI interface input to control the working states of a propeller, a hull and a rudder, generating a ship motion mathematical model, generating the motion attitude of the ship at the current moment, determining whether the angles and the distances of the pilot ships and the following ships are expected angles and distances, if not, continuing to receive the UI interface input, and otherwise, ending.
After the above setting is completed, step S16 is executed.
And S16, simulating the ship formation according to the three-dimensional model of the ship lock water area virtual scene, the ship lock passing scene animation, the trigger and the UI interface after the ship model is imported.
Specifically, as shown in fig. 7, the simulation process is that a ship formation receives a control signal input by a UI interface, sailing simulation is performed in a ship lock water area virtual scene three-dimensional model, a ship lock passing scene animation is triggered, as shown in fig. 8, a simulation schematic diagram of the ship formation sailing at the downstream, as shown in fig. 9, when a ship sails to a fast approaching lock chamber, the ship formation triggers a trigger, and starts the scene animation, for example, after a left gate of an entrance gate is opened and a right gate of the entrance gate is opened, as shown in fig. 10, after the ship completely enters the lock, the trigger is continuously triggered, the left gate of the entrance gate is closed and the right gate of the entrance gate is closed, the water surface starts to rise, the left gate of the exit gate is opened and the right gate of the exit gate is opened, as shown in fig. 11, the ship exits the lock; as shown in fig. 12, the ship leaves the last ship lock, continues to run, enters the upstream navigation as shown in fig. 13, and then completes a simulation process, so as to obtain a simulation result close to the actual test, and thus, the ship formation navigation test can be performed without the physical ship lock and the ship, and the test result can be obtained, so as to effectively reduce the ship formation navigation test time and the cost of the ship industry.
The embodiment of the invention provides a three-dimensional simulation system for ship formation navigation control, which comprises:
at least one memory for storing a program;
at least one processor for loading the program to execute the three-dimensional simulation method for formation and navigation control of a ship shown in fig. 1.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and executed by the processor to cause the computer device to perform the method illustrated in fig. 1.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A three-dimensional simulation method for ship formation navigation control is characterized by comprising the following steps:
constructing a ship lock water area virtual scene three-dimensional model according to the scene data of the water area to be tested;
constructing a lock crossing scene animation and a trigger for triggering the scene animation;
constructing a UI interface, wherein a plurality of trigger buttons are arranged on the UI interface;
importing a plurality of ship models into the ship lock water area virtual scene three-dimensional model, importing hydrodynamic force models into the ship models, and enabling the ship models to interact with the plurality of trigger buttons;
setting initial positions of a plurality of ship models to generate ship formation;
and simulating the ship formation according to the three-dimensional model of the ship lock water area virtual scene, the ship lock passing scene animation, the trigger and the UI interface after the ship model is introduced.
2. The three-dimensional simulation method for the formation and navigation control of ships according to claim 1, wherein the constructing of the three-dimensional model of the ship lock water area virtual scene according to the scene data of the water area to be tested comprises:
collecting scene data of a water area to be tested;
and constructing a three-dimensional model of the ship lock water area virtual scene by adopting preset three-dimensional modeling software according to the data of the preset earth database.
3. The three-dimensional simulation method for formation and navigation control of ships according to claim 2, wherein the first script is used in the three-dimensional model of the water area virtual scene of the ship lock to control water surface parameters, and the water surface parameters comprise water surface reflection intensity, Fresnel intensity, wind speed grade, wave, grid proportion, water surface refraction intensity and water surface refraction distortion degree.
4. The three-dimensional simulation method for formation navigation control of ships according to claim 1, wherein the ship lock gate-crossing scene animation comprises ship lock gate opening and closing animation and lock chamber water level up-down animation.
5. The three-dimensional simulation method for formation and navigation control of ships according to claim 4, wherein the trigger is arranged at the front side of the lock in the lock crossing scene animation and is used for triggering a second script in the simulation process, and the second script is used for executing the corresponding scene animation.
6. The three-dimensional simulation method for formation and navigation control of ships according to claim 1, wherein the ship model interacts with the plurality of trigger buttons by using a third script; when the simulation is carried out, the plurality of trigger buttons are used for controlling the ship type and the ship working state of the ship model.
7. The method according to claim 1, wherein the step of importing a plurality of ship models into the three-dimensional model of the ship lock water area virtual scene and a hydrodynamic model into the ship model comprises:
introducing a plurality of pre-constructed ship models into the three-dimensional model of the ship lock water area virtual scene;
and constructing propeller and steering engine animations of a plurality of ship models, and importing the propeller and steering engine animations into the hydrodynamic model, wherein the propeller and steering engine animations are used for simulating propeller rotation and steering.
8. The three-dimensional simulation method for ship formation navigation control according to claim 1, wherein the setting of initial positions of a plurality of ship models to generate the ship formation comprises:
setting initial positions of a plurality of ship models, wherein the initial positions of the ship models are different;
two ships are set from the multiple ship models as pilot ships, and the rest ships are following ships, so that ship formation is formed.
9. The three-dimensional simulation method for ship formation navigation control according to claim 8, wherein the simulation of the ship formation according to the three-dimensional model of the lock water area virtual scene after the ship model is imported, the animation of the lock pass-gate scene, the trigger and the UI interface comprises:
the ship formation receives a control signal input by a UI interface, and navigation simulation is carried out in a ship lock water area virtual scene three-dimensional model;
and when the ship formation sails to a preset position, triggering the lock crossing scene animation.
10. A three-dimensional simulation system for formation navigation control of ships comprises:
at least one memory for storing a program;
at least one processor configured to load the program to perform the three-dimensional simulation method for formation voyage control of a ship according to any one of claims 1 to 9.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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